/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/

#include "dpptam/MapDrawer.h"
//#include "MapPoint.h"
//#include "KeyFrame.h"
#include <pangolin/pangolin.h>
#include <mutex>
#include <dpptam/SemiDenseTracking.h>

#include "opencv2/core/core.hpp"

using namespace std;

class MapPoint {
public:
    cv::Mat GetWorldPos() {
        return cv::Mat(1, 3, CV_32F, cv::Scalar(0));
    }

    bool isBad() {
        return false;
    }
};

MapDrawer::MapDrawer(SemiDenseMapping *pMap, SemiDenseTracking *pTracker, const string &strSettingPath) :
        mpMap(pMap), mpTracker(pTracker) {
    cv::FileStorage fSettings(strSettingPath, cv::FileStorage::READ);

    mKeyFrameSize = fSettings["Viewer.KeyFrameSize"];
    mKeyFrameLineWidth = fSettings["Viewer.KeyFrameLineWidth"];
    mGraphLineWidth = fSettings["Viewer.GraphLineWidth"];
    mPointSize = fSettings["Viewer.PointSize"];
    mCameraSize = fSettings["Viewer.CameraSize"];
    mCameraLineWidth = fSettings["Viewer.CameraLineWidth"];

}

void MapDrawer::DrawMapPoints() {
    const vector<MapPoint *> vpMPs; //= mpMap->GetAllMapPoints();
    const vector<MapPoint *> vpRefMPs; //= mpMap->GetReferenceMapPoints();

    set<MapPoint *> spRefMPs(vpRefMPs.begin(), vpRefMPs.end());

    if (vpMPs.empty())
        return;

    glPointSize(mPointSize);
    glBegin(GL_POINTS);
    glColor3f(0.0, 0.0, 0.0);

    for (size_t i = 0, iend = vpMPs.size(); i < iend; i++) {
        if (vpMPs[i]->isBad() || spRefMPs.count(vpMPs[i]))
            continue;
        cv::Mat pos = vpMPs[i]->GetWorldPos();
        glVertex3f(pos.at<float>(0), pos.at<float>(1), pos.at<float>(2));
    }
    glEnd();

    glPointSize(mPointSize);
    glBegin(GL_POINTS);
    glColor3f(1.0, 0.0, 0.0);

    for (set<MapPoint *>::iterator sit = spRefMPs.begin(), send = spRefMPs.end(); sit != send; sit++) {
        if ((*sit)->isBad())
            continue;
        cv::Mat pos = (*sit)->GetWorldPos();
        glVertex3f(pos.at<float>(0), pos.at<float>(1), pos.at<float>(2));

    }

    glEnd();
}

void MapDrawer::DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph) {
    const float &w = mKeyFrameSize;
    const float h = w * 0.75;
    const float z = w * 0.6;

//    const vector<KeyFrame*> vpKFs = mpMap->GetAllKeyFrames();

    if (bDrawKF) {
//        for(size_t i=0; i<vpKFs.size(); i++)
//        {
//            KeyFrame* pKF = vpKFs[i];
//            cv::Mat Twc = pKF->GetPoseInverse().t();
        cv::Mat Twc = mpTracker->poses;

        glPushMatrix();

        glMultMatrixf(Twc.ptr<GLfloat>(0));

        glLineWidth(mKeyFrameLineWidth);
        glColor3f(0.0f, 0.0f, 1.0f);
        glBegin(GL_LINES);
        glVertex3f(0, 0, 0);
        glVertex3f(w, h, z);
        glVertex3f(0, 0, 0);
        glVertex3f(w, -h, z);
        glVertex3f(0, 0, 0);
        glVertex3f(-w, -h, z);
        glVertex3f(0, 0, 0);
        glVertex3f(-w, h, z);

        glVertex3f(w, h, z);
        glVertex3f(w, -h, z);

        glVertex3f(-w, h, z);
        glVertex3f(-w, -h, z);

        glVertex3f(-w, h, z);
        glVertex3f(w, h, z);

        glVertex3f(-w, -h, z);
        glVertex3f(w, -h, z);
        glEnd();

        glPopMatrix();
    }
//    }

//    if (bDrawGraph) {
//        glLineWidth(mGraphLineWidth);
//        glColor4f(0.0f, 1.0f, 0.0f, 0.6f);
//        glBegin(GL_LINES);
//
//        for (size_t i = 0; i < vpKFs.size(); i++) {
//            // Covisibility Graph
//            const vector<KeyFrame *> vCovKFs = vpKFs[i]->GetCovisiblesByWeight(100);
//            cv::Mat Ow = vpKFs[i]->GetCameraCenter();
//            if (!vCovKFs.empty()) {
//                for (vector<KeyFrame *>::const_iterator vit = vCovKFs.begin(), vend = vCovKFs.end();
//                     vit != vend; vit++) {
//                    if ((*vit)->mnId < vpKFs[i]->mnId)
//                        continue;
//                    cv::Mat Ow2 = (*vit)->GetCameraCenter();
//                    glVertex3f(Ow.at<float>(0), Ow.at<float>(1), Ow.at<float>(2));
//                    glVertex3f(Ow2.at<float>(0), Ow2.at<float>(1), Ow2.at<float>(2));
//                }
//            }
//
//            // Spanning tree
//            KeyFrame *pParent = vpKFs[i]->GetParent();
//            if (pParent) {
//                cv::Mat Owp = pParent->GetCameraCenter();
//                glVertex3f(Ow.at<float>(0), Ow.at<float>(1), Ow.at<float>(2));
//                glVertex3f(Owp.at<float>(0), Owp.at<float>(1), Owp.at<float>(2));
//            }
//
//            // Loops
//            set<KeyFrame *> sLoopKFs = vpKFs[i]->GetLoopEdges();
//            for (set<KeyFrame *>::iterator sit = sLoopKFs.begin(), send = sLoopKFs.end(); sit != send; sit++) {
//                if ((*sit)->mnId < vpKFs[i]->mnId)
//                    continue;
//                cv::Mat Owl = (*sit)->GetCameraCenter();
//                glVertex3f(Ow.at<float>(0), Ow.at<float>(1), Ow.at<float>(2));
//                glVertex3f(Owl.at<float>(0), Owl.at<float>(1), Owl.at<float>(2));
//            }
//        }
//
//        glEnd();
//    }
}

void MapDrawer::DrawCurrentCamera(pangolin::OpenGlMatrix &Twc) {
    const float &w = mCameraSize;
    const float h = w * 0.75;
    const float z = w * 0.6;

    glPushMatrix();

#ifdef HAVE_GLES
    glMultMatrixf(Twc.m);
#else
    glMultMatrixd(Twc.m);
#endif

    glLineWidth(mCameraLineWidth);
    glColor3f(0.0f, 1.0f, 0.0f);
    glBegin(GL_LINES);
    glVertex3f(0, 0, 0);
    glVertex3f(w, h, z);
    glVertex3f(0, 0, 0);
    glVertex3f(w, -h, z);
    glVertex3f(0, 0, 0);
    glVertex3f(-w, -h, z);
    glVertex3f(0, 0, 0);
    glVertex3f(-w, h, z);

    glVertex3f(w, h, z);
    glVertex3f(w, -h, z);

    glVertex3f(-w, h, z);
    glVertex3f(-w, -h, z);

    glVertex3f(-w, h, z);
    glVertex3f(w, h, z);

    glVertex3f(-w, -h, z);
    glVertex3f(w, -h, z);
    glEnd();

    glPopMatrix();
}


void MapDrawer::SetCurrentCameraPose(const cv::Mat &Tcw) {
    unique_lock<mutex> lock(mMutexCamera);
    mCameraPose = Tcw.clone();
}

void MapDrawer::GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M) {
    if (!mCameraPose.empty()) {
        cv::Mat Rwc(3, 3, CV_32F);
        cv::Mat twc(3, 1, CV_32F);
        {
            unique_lock<mutex> lock(mMutexCamera);
            Rwc = mCameraPose.rowRange(0, 3).colRange(0, 3).t();
            twc = -Rwc * mCameraPose.rowRange(0, 3).col(3);
        }

        M.m[0] = Rwc.at<float>(0, 0);
        M.m[1] = Rwc.at<float>(1, 0);
        M.m[2] = Rwc.at<float>(2, 0);
        M.m[3] = 0.0;

        M.m[4] = Rwc.at<float>(0, 1);
        M.m[5] = Rwc.at<float>(1, 1);
        M.m[6] = Rwc.at<float>(2, 1);
        M.m[7] = 0.0;

        M.m[8] = Rwc.at<float>(0, 2);
        M.m[9] = Rwc.at<float>(1, 2);
        M.m[10] = Rwc.at<float>(2, 2);
        M.m[11] = 0.0;

        M.m[12] = twc.at<float>(0);
        M.m[13] = twc.at<float>(1);
        M.m[14] = twc.at<float>(2);
        M.m[15] = 1.0;
    } else
        M.SetIdentity();
}

